Publications


MixItUp Demo - Toggle Filtering AND Logic



Evolution of Functional Specialization in a Morphologically Homogeneous Robot

Proceedings of the 11th Annual conference on Genetic and evolutionary computation, , 89-96, 2009


Status: Published

Citations:

Cite: [bibtex]


My Image

Abstract: A central tenet of embodied artificial intelligence is that intelligent behavior arises out of the coupled dynamics between an agent’s body, brain and environment. It follows that the complexity of an agents’s controller and morphology must match the complexity of a given task. However, more complex task environments require the agent to exhibit different behaviors, which raises the question as to how to distribute responsibility for these behaviors across the agents’s controller and morphology. In this work a robot is trained to locomote and manipulate an object, but the assumption of functional specialization is relaxed: the robot has a segmented body plan in which the front segment may participate in locomotion and object manipulation, or it may specialize to only participate in object manipulation. In this way, selection pressure dictates the presence and degree of functional specialization rather than such specialization being enforced a priori. It is shown that for the given task, evolution tends to produce functionally specialized controllers, even though successful generalized controllers can also be evolved. Moreover, the robot’s initial conditions and training order have little effect on the frequency of finding specialized controllers, while the inclusion of additional proprioceptive feedback increases this frequency.


**May not be in order

[edit database entry]
Stacks Image 525289
(null)

  • Stacks Image 525371
    (null)
  • Stacks Image 525379
    (null)
  • Stacks Image 525375
    (null)


Stacks Image 525306
(null)

  • Stacks Image 525319
    (null)
  • Stacks Image 525314
    (null)
  • Stacks Image 525310
    (null)


Stacks Image 525327
(null)

  • Stacks Image 525331
    (null)
  • Stacks Image 525335
    (null)
  • Stacks Image 525339
    (null)


Stacks Image 525346
(null)

  • Stacks Image 525350
    (null)
  • Stacks Image 525354
    (null)
  • Stacks Image 525358
    (null)


Stacks Image 525386
(null)

  • Stacks Image 525390
    (null)
  • Stacks Image 525394
    (null)
  • Stacks Image 525398
    (null)